Diff: main.cpp

Revision:

1:a3bfd422ea9e

Parent:

0:dc587be179e9

Child:

2:c5f038d7be1f

--- a/main.cpp	Mon Jul 20 08:57:05 2015 +0000
+++ b/main.cpp	Sat Aug 08 06:46:52 2015 +0000
@@ -11,17 +11,21 @@
 #define btSqa 7
 
 Serial pc(SERIAL_TX, SERIAL_RX);
-Serial Dev(D8,D2);//コントローラー
-RawSerial Mechanum(PA_11,PA_12);//メカナム
+//Serial Dev(D8,D2);//コントローラー
+Serial Dev(PC_6,PA_12);//コンßトローラー
+RawSerial Mechanum(D8,D2);//メカナム
 I2C i2c(D14,D15);//sda,scl
 const int airAddr=0xA0;
+BusOut dI2c(PC_0,PC_1,PC_2,PC_3);//i2cデバッグ
 
 int Bflag = 0;
 DigitalOut myled(LED1);// ,test1(PB_7) ,test2(PA_15) ,test3(PC_13) ,test4(PC_12);
+PwmOut Green(D5),Blue(D4),Red(D3);
 #define N 6
 char DATA[N];
 void rotate(double setAngle);
 void speed();
+
 void num()//割り込まれたら６回受信
 {
     if(Dev.getc()==114){
@@ -111,6 +115,7 @@
 {
     bool btFlag=true,lFlag=false;
     int vector=130;
+    Blue=0.8f;Green=0;
     while(true)
     {
         if((((int)DATA[1]&12)==12)&&btFlag){
@@ -119,7 +124,7 @@
             btFlag=false;
         }
         
-        else if(!(((int)DATA[1]&1)==1)&&!(((int)DATA[1]&2)==2)&&lFlag){
+        else if(((!(int)DATA[1]&1==1)&&(!(int)DATA[1]&2==2))&&lFlag){
             vector=72;
             break;
         }
@@ -128,6 +133,7 @@
         wait(0.001f);
     }
     btFlag=true;lFlag=false;
+    Blue=0;Green=0;
 }
 
 
@@ -135,8 +141,8 @@
 {
     char DATA[2] = {reg,size};
     bool A = i2c.write(airAddr,DATA,2);
-         A|= i2c.write(airAddr,data,size);
-    return N;
+    A|= i2c.write(airAddr,data,size);
+    return A;
 }
 
 int main() {
@@ -146,13 +152,13 @@
     char shotL[]={0xC0,0};
     char shotR[]={0xE0,0};
     Dev.attach(num,Serial::RxIrq);//受信割り込み設定
-
+    Green=0;Blue=0;Red=0;
     //pc.printf("Hello World !\n");
     double deg;
     int val;
     bool shotLf=true,shotRf=true;
     bool i2cS=true;
-    i2c.frequency(400000);
+    i2c.frequency(400000); 
 
     while(true)
     {
@@ -161,21 +167,23 @@
             //printf("DetectMode\r\n");
         }
         if(getBt(btL)&shotLf){
-            i2cS=shot(0x02,shotL,1);
+            dI2c=shot(0x02,shotL,1);
             wait(0.3f);
             //printf("shot:%d\r\n",i2cS=i2c.write(airAddr,cmd,2));
             //i2c.write(airAddr,cmd,2);
             shotLf=false;
+            dI2c=0;
         }
         else if(!getBt(btL))
             shotLf=true;
         
         if(getBt(btR)&shotRf){
-            i2cS=shot(0x02,shotR,1);
+            dI2c=shot(0x02,shotR,1);
             wait(0.3f);
             //printf("shot:%d\r\n",i2cS=i2c.write(airAddr,cmd,2));
             //i2c.write(airAddr,cmd,2);
             shotRf=false;
+            dI2c=0;
         }
         else if(!getBt(btR))
             shotRf=true;
@@ -186,6 +194,6 @@
         //printf("val:%d\r\n",val);
         Mechanum.putc(val);
         wait(0.03f);
-        //printf("X:%dX1:%d:bt%dval:%di2cS:%d\r\n",(int)DATA[0],(int)DATA[1]&12,getBt(btSqa),val,i2cS);
+        printf("X:%dX1:%d:bt%dval:%di2cS:%d\r\n",(int)DATA[0],(int)DATA[1],getBt(btSqa),val,i2cS);
     }
 }
\ No newline at end of file